The TurtleBot AX-12 Robotic Arm is a 5 degree-of-freedom robotic arm and an easy addition to the TurtleBot ROS robot platform. This hardware kit comes with everything needed to physically assemble and mount the arm.
This build guide assumes that you know how AX-12 brackets are mounted to AX-12 servos. You must seat M2 nuts into the rows of sockets prior to bolting them down. Please refer to this video for instruction:
We also recommend the use of Loc-tite or a similar threadlocker:
Please note that the AX-12A servos that come with this kit have pre-assigned IDs.
Parts List Note: Some of the parts in some assemblies come packaged in seperate smaller bags because they come with a bracket or other various part. Please review the entire parts list to ensure you have all necessary components. Some kits will have spare bolts, nuts, or screws included.
Make note of the servo IDs and their positions. Each servo has a # written on the back of it. Be sure you assemble the servos in the correct order so that your arm will work!
Note the orientation of the gripper finger side rails. The inside corner on one side has extra bracing. This is the front-outside end of the fingers. Make sure these sides are paired up properly during assembly steps.
It helps to layout the parts as shown so that everything makes sense. You will build the Gripper Fingers by first using the 6 parts in the two center rows.
Assemble the Gripper Fingers as shown. You want the textured side of the Side Rails facing out on both the top and bottom. The textured side of the center pieces should face out. Tighten the bolts nice and snug, but don't strip the standoffs.
8x F/F 4-40 x 1" Hex Standoff
16x 4-40 x 3/8" Button Head Bolt
Place the spacers on the inside of each Finger as shown with the smooth sides exposed.
Bolt the Fingertip spacers doen using M2x6 Hex Socket Head Bolts. The bolts go on the outside of the finger. They go through the finger and will self-tap into the ABS spacer.
For the following steps you want to tap the M2 nuts into their seats. A few gentle-medium taps using a DIY punch will get the job done. This will secure the nuts nice and tight so it is easier to get the bolts threading.
